CN114248836B - Motor position signal fault processing method and system - Google Patents
Motor position signal fault processing method and system Download PDFInfo
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- CN114248836B CN114248836B CN202111576426.8A CN202111576426A CN114248836B CN 114248836 B CN114248836 B CN 114248836B CN 202111576426 A CN202111576426 A CN 202111576426A CN 114248836 B CN114248836 B CN 114248836B
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- 238000003672 processing method Methods 0.000 title claims abstract description 13
- 238000000034 method Methods 0.000 claims description 8
- 238000010276 construction Methods 0.000 claims description 4
- 230000008439 repair process Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/049—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting sensor failures
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention provides a motor position signal fault processing method and a system, wherein the motor position signal fault processing method comprises the following steps: detecting a fault of a differential signal of a position sensor, and acquiring a fault type; if the fault type is that partial signals fail, acquiring motor position information according to effective differential signals; if the fault type is that all signals fail, the power of the motor is cut off, and the steering system is in a safe mode. When part of signals of the MR sensor are available, the motor position can be analyzed continuously according to part of available MR signals, the controllability of the motor is ensured, the limited power-assisted capacity of the motor is reserved, and the torque requirement of a steering system on the power-assisted motor is met.
Description
Technical Field
The invention relates to the technical field of EPS electric power steering systems, in particular to a motor position signal fault processing method and system.
Background
In the prior art, mainly for a TMR sensor, for example, a TAD2141 Angle sensor chip of TDK company, 4 paths of differential signals of sin and cos can be output, and then a motor Angle can be obtained according to a TMR software Angle decoding scheme provided by the company, a reference document is referred to an official website file TAD2141_ Angle _ sensor _ specification of TDK company, the document can correctly analyze motor Angle information for 4 paths of differential signals of sin and cos without faults, but when partial faults occur in the 4 paths of differential signals of sin and cos, the document has no fault post-processing mechanism.
Therefore, a method and a system for processing a motor position signal fault are needed to solve the above problems.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a motor position signal fault processing method and system, which can analyze the position of a motor according to an MR signal without fault, ensure the controllability of the motor, reserve the limited power-assisted capability of the motor and meet the torque requirement of a steering system on a power-assisted motor.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a motor position signal fault processing method comprises the following steps: when detecting that a differential signal of a position sensor has a fault, acquiring a fault type; if the fault type is that partial signals fail, acquiring motor position information according to effective differential signals; and if the fault type is that all signals fail, the power assisting of the motor is cut off, so that the steering system is in a safe mode.
In a preferred embodiment of the present invention, the differential signal includes: sin +, sin-, cos + and cos-signals; the sin + and sin-are symmetric signals, and the cos + and cos-are symmetric signals.
In a preferred embodiment of the present invention, if the fault type is a partial signal failure, the step of obtaining the motor position information according to the effective differential signal includes: when 1 path of signal is detected to be faulty in the differential signal of the position sensor, a fault signal is constructed through the symmetry between sin + and sin-and between cos + and cos-; and acquiring the position information of the motor according to the repaired differential signal and a motor control algorithm.
In a preferred embodiment of the present invention, if the fault type is a partial signal failure, the step of obtaining the motor position information according to the valid differential signal includes: when detecting that 2 paths of signals in the differential signals of the sensor simultaneously have faults, determining whether the fault signals are symmetrical signals; if yes, obtaining an independent sin or cos signal according to the signal without fault; acquiring the position of the motor according to the sin or cos signal; and if not, carrying out construction repair on the fault signal according to the differential signal without the fault, and acquiring the position of the motor according to the repaired differential signal and a motor control algorithm.
In a preferred embodiment of the present invention, if yes, the step of obtaining a separate sin or cos table includes: obtaining a single sin or cos table; and acquiring the motor position according to the sin or cos table and the sin signal or cos signal.
In a preferred embodiment of the present invention, if the fault type is a partial signal failure, the step of obtaining the motor position information according to the effective differential signal includes: and when detecting that 3 paths of signals in the differential signals of the sensor simultaneously have faults, the original non-fault phase look-up table acquires the position information of the motor.
In a preferred embodiment of the present invention, when it is detected that there are 3 paths of signals in the differential signals of the sensor and a fault occurs simultaneously, the step of calculating the position information of the motor by using the original non-fault look-up table includes: when sin-, sin + and cos-simultaneously have faults, acquiring the motor position information according to a cos + table; when sin-, sin + and cos + simultaneously have faults, acquiring the motor position information according to a cos-table; when cos-, cos + and sin-simultaneously have faults, acquiring the motor position information according to the sin + table; and when cos +, cos + and sin + simultaneously have faults, acquiring the motor position information according to the sin-table.
A motor position signal fault handling system, comprising: the device comprises a memory and a processor, wherein the memory stores a motor position signal fault processing program, and the motor position signal fault processing program realizes the steps of the motor position signal fault processing method according to any one of the above items when being executed by the processor.
The technical effect achieved by adopting the technical scheme is as follows: when four paths of differential signals of the MR position sensor have faults, the four paths of differential signals are respectively processed according to different fault types, if the MR position sensor is completely unavailable, a main program is informed to cut off the power of the motor, and the EPS controller is prevented from disordering the power; if partial signals of the MR sensor are available, the position of the motor can be analyzed continuously according to partial available MR signals, the controllability of the motor is guaranteed, the limited power-assisted capacity of the motor is reserved, and the torque requirement of a steering system on the power-assisted motor is met.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are specifically described in detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a flowchart illustrating a method for processing a fault of a motor position signal according to an embodiment of the present invention;
FIG. 2 is a block diagram of a motor position signal of an EPS system according to an embodiment of the present invention;
FIG. 3 is a block diagram of an embodiment of the present invention showing an MR four-way signal to obtain motor position information;
FIG. 4 is a block diagram illustrating the construction of a faulted single phase signal based on signal symmetry according to an embodiment of the present invention;
FIG. 5 is a block diagram illustrating the acquisition of motor positions in the event of a failure of two symmetrical MR signals according to an embodiment of the present invention;
fig. 6 is a block diagram illustrating the calculation of motor position information by using an original non-fault look-up table according to an embodiment of the present invention.
Detailed Description
To further illustrate the technical measures and effects taken by the present invention to achieve the intended objects, embodiments of the present invention will be described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below are only a part of the embodiments of the present invention, and not all of them. All other embodiments that can be obtained by a person skilled in the art based on the embodiments of the present invention without any inventive step belong to the scope of the embodiments of the present invention. While the present invention has been described in connection with the preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but is intended to cover various modifications, equivalent arrangements, and specific embodiments thereof.
Optionally, when the four signals of the MR sensor are normal and have no fault, the motor position information is directly solved according to a motor control algorithm.
Referring to fig. 1 to 6, as shown in fig. 1 to 6, a method for processing a motor position signal fault according to an embodiment of the present invention includes the following steps:
step S11: when detecting that a differential signal of a position sensor has a fault, acquiring a fault type;
optionally, the differential signal comprises: sin +, sin-, cos + and cos-signals; the sin + and sin-are symmetric signals, and the cos + and cos-are symmetric signals.
Step S12: if the fault type is that partial signals fail, acquiring motor position information according to effective differential signals;
optionally, if the fault type is a partial signal failure, the step of obtaining the motor position information according to the effective differential signal includes: when 1 path of signal is detected to be faulty in the differential signal of the position sensor, a fault signal is constructed through the symmetry between sin + and sin-and between cos + and cos-; and acquiring the position information of the motor according to the repaired differential signal and a motor control algorithm.
Illustratively, when a 1-way signal in the MR sensor fails, a failure signal is constructed through the symmetry between sin +/sin-and cos +/cos-.
As shown in the block diagram of FIG. 4, when sin-of the MR sensor fails, sin-is constructed according to the sin + signal, and then the motor position information is continuously solved according to the motor control algorithm. And when sin + of the MR sensor fails, constructing sin + according to the sin-signal, and then continuously solving the motor position information according to a motor control algorithm. When cos-of the MR sensor fails, the cos-is constructed according to the cos + signal, and then the motor position information is continuously solved according to a motor control algorithm. When cos + of the MR sensor breaks down, cos + is constructed according to the cos-signals, and then the motor position information is continuously solved according to a motor control algorithm.
Optionally, if the fault type is a partial signal failure, the step of obtaining the motor position information according to the effective differential signal includes: when 2 paths of signals in the differential signals of the sensor are detected to have faults simultaneously, whether the fault signals are symmetrical signals or not is confirmed; if yes, obtaining an independent sin or cos signal according to the signal without fault; acquiring the position of the motor according to the sin or cos signal; and if not, carrying out construction repair on the fault signal according to the differential signal without the fault, and acquiring the position of the motor according to the repaired differential signal and a motor control algorithm.
Optionally, if yes, a step of obtaining a separate sin or cos table includes: obtaining a single sin or cos table; and acquiring the motor position according to the sin or cos table and the sin signal or cos signal.
Illustratively, when 2 signals in the MR sensor fail simultaneously, the cases of 3.1 and 3.2 are as shown in FIG. 5, a single sin/cos table is designed, a single sin/cos signal is designed, and motor position information is output by looking up the sin/cos table. And 3.3-3.6, processing according to the design scheme of the single-signal fault.
3.1 when sin-and sin + of the MR sensor simultaneously have faults, outputting cos according to cos-and cos + signals, and obtaining position information by looking up a table according to a designed cos table and a single cos signal in the year.
3.2 when cos-and cos + of the MR sensor simultaneously have faults, sin is output according to sin-and sin + signals, and position information is obtained by looking up a table according to a designed sin table and a single sin signal in the year; 3.3 when sin-and cos + of the MR sensor simultaneously have faults, respectively constructing sin + and cos-according to the sin-and cos + signals, and then normally solving the motor position information according to the step 1.
3.4 when sin-and cos-of the MR sensor simultaneously have faults, respectively constructing sin + and cos + according to the sin-and cos-signals, and then normally solving the motor position information according to the step 1.
3.5 when sin + and cos + of the MR sensor simultaneously have faults, respectively constructing sin-and cos-according to sin + and cos + signals, and then normally solving the motor position information according to the step 1.
3.6 when sin + and cos-of the MR sensor simultaneously have faults, respectively constructing sin-and cos + according to sin + and cos-signals, and then normally solving the motor position information according to the step 1.
Optionally, if the fault type is a partial signal failure, the step of obtaining the motor position information according to the effective differential signal includes: and when detecting that 3 paths of signals in the differential signals of the sensor simultaneously have faults, the original non-fault phase look-up table acquires the position information of the motor.
Optionally, when it is detected that there are 3 paths of signals in the differential signals of the sensor and a fault occurs simultaneously, the step of calculating the position information of the motor by using an original non-fault look-up table includes: when sin-, sin + and cos-simultaneously have faults, acquiring the motor position information according to a cos + table; when sin-, sin + and cos + simultaneously have faults, acquiring the motor position information according to a cos-table; when cos-, cos + and sin-simultaneously have faults, acquiring the motor position information according to the sin + table; and when cos +, cos + and sin + simultaneously have faults, acquiring the motor position information according to the sin-table.
Illustratively, when 3 signals in the MR sensor fail simultaneously, as shown in fig. 6, the motor position information is obtained according to the original non-failure look-up table.
4.1 when the SIN-, SIN + and COS-of the MR sensor simultaneously have faults, the position information is obtained by looking up a table through the designed COS + table and the single COS + signal according to the COS + signal;
4.2 when the SIN-and SIN + and COS + of the MR sensor simultaneously have faults, searching a table according to the COS-signals through a designed COS-table and a single COS-signal table to obtain position information;
4.3 when the COS-and COS + of the MR sensor and the SIN-simultaneously have faults, the single SIN + signal is checked to obtain position information through a designed SIN + table according to the SIN + signal;
4.4 when the COS-and COS + of the MR sensor and the SIN + simultaneously have faults, the single SIN-signal table look-up is carried out according to the SIN-signal through the designed SIN table to obtain the position information.
Step S13: if the fault type is that all signals fail, the power of the motor is cut off, and the steering system is in a safe mode.
Illustratively, when 4 signals in the MR sensor simultaneously have faults, the faults are reported directly, the assistance of the motor is cut off, the motor assistance is prevented from being disordered, and the EPS system is in a safe mode.
According to the motor position signal fault processing method, in the control of the permanent magnet synchronous motor for the EPS system, after the MR position sensor is partially failed, through the MR fault processing mechanism designed by the invention, the motor position analysis can be performed on the rest MR signals according to different conditions, the effective MR signals are utilized to analyze the motor position information to the maximum extent when the MR fails, the EPS system is enabled to continue to operate, the controllability of the motor is ensured, the limited power-assisted capability of the motor is reserved, and the torque requirement of a steering system on the power-assisted motor is met. And only when 4 paths of signals of the MR completely fail, the fault is reported to the main program, and the power-assisted motor is cut off by the main program, so that the power-assisted motor is prevented from outputting power assistance in a mess manner, and the steering system is in a safe mode.
The invention also provides a motor position signal fault processing system, which comprises: the device comprises a memory and a processor, wherein the memory stores a motor position signal fault processing program, and the motor position signal fault processing program realizes the steps of the motor position signal fault processing method in any one of the above embodiments when being executed by the processor.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or at least partially with respect to other steps or other steps.
Through the above description of the embodiments, it is clear to those skilled in the art that the embodiments of the present invention may be implemented by hardware, or by software plus a necessary general hardware platform. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the various implementation scenarios of the embodiments of the present invention.
The present invention is not limited to the details of the above embodiments, which are exemplary, and the modules or processes in the drawings are not necessarily essential to the implementation of the embodiments of the present invention, and should not be construed as limiting the present invention.
Claims (6)
1. A motor position signal fault processing method is characterized by comprising the following steps:
when detecting that a differential signal of a position sensor has a fault, acquiring a fault type, wherein the differential signal comprises: sin +, sin-, cos + and cos-signals, wherein the sin + and the sin-are symmetrical signals, and the cos + and the cos-are symmetrical signals;
if the fault type is that partial signals fail, acquiring motor position information according to effective differential signals;
if the fault type is that all signals fail, the power of the motor is cut off, and the steering system is in a safe mode;
if the fault type is partial signal failure, acquiring the motor position information according to the effective differential signal, wherein the step comprises the following steps of:
when detecting that 2 paths of signals in the differential signals of the sensor simultaneously have faults, determining whether the fault signals are symmetrical signals;
if yes, obtaining an independent sin or cos signal according to the signal without fault;
acquiring the position of the motor according to the sin or cos signal;
and if not, carrying out construction repair on the fault signal according to the differential signal without the fault, and acquiring the position of the motor according to the repaired differential signal and a motor control algorithm.
2. The motor position signal fault handling method of claim 1, wherein if the fault type is partial signal failure, the step of obtaining motor position information according to a valid differential signal comprises:
when 1 path of signal is detected to be faulty in the differential signal of the position sensor, a fault signal is constructed through the symmetry between sin + and sin-and between cos + and cos-;
and acquiring the position information of the motor according to the repaired differential signal and a motor control algorithm.
3. The motor position signal fault handling method of claim 1, wherein if so, the step of obtaining an individual sin or cos table comprises:
obtaining a single sin or cos table;
and acquiring the motor position according to the sin or cos table and the sin signal or cos signal.
4. The motor position signal fault processing method of claim 1, wherein if the fault type is partial signal failure, the step of obtaining motor position information according to the valid differential signal comprises:
and when detecting that 3 paths of signals in the differential signals of the sensor simultaneously have faults, the original non-fault phase look-up table acquires the position information of the motor.
5. The motor position signal fault processing method of claim 4, wherein when detecting that 3 paths of signals in the differential signals of the sensors have faults simultaneously, the step of solving the motor position information by using an original non-fault look-up table comprises the following steps:
when sin-, sin + and cos-simultaneously have faults, acquiring the motor position information according to a cos + table;
when sin-, sin + and cos + simultaneously have faults, acquiring the motor position information according to the cos-table;
when cos-, cos + and sin-simultaneously have faults, acquiring the motor position information according to the sin + table;
and when the cos-, the cos + and the sin + simultaneously have faults, acquiring the motor position information according to the sin-table.
6. A motor position signal fault handling system, comprising: memory, a processor, wherein the memory has stored thereon a motor position signal fault handling program which, when executed by the processor, implements the steps of the motor position signal fault handling method of any of claims 1 to 5.
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| CN113104097A (en) * | 2020-01-09 | 2021-07-13 | 罗伯特·博世有限公司 | Availability to provide rotational position sensor information after hardware failure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3593050B2 (en) * | 2001-03-27 | 2004-11-24 | 三菱電機株式会社 | Abnormality detection method and device for position detection device and electric power steering device |
| EP3901584B1 (en) * | 2018-12-18 | 2022-08-10 | Mitsubishi Electric Corporation | Angle detection device and electric power steering device using same |
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| JPH10197367A (en) * | 1997-01-10 | 1998-07-31 | Nippon Seiko Kk | Controller for motor-driven power steering apparatus |
| CN104029717A (en) * | 2013-03-04 | 2014-09-10 | 福特环球技术公司 | Electric power assist steering motor sensor redundancy |
| CN108351197A (en) * | 2015-11-26 | 2018-07-31 | 三菱电机株式会社 | Angle detection device and electric power-assisted steering apparatus |
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| WO2020145069A1 (en) * | 2019-01-09 | 2020-07-16 | 日立オートモティブシステムズ株式会社 | Abnormality diagnostic device of rotation angle sensor of the motor, and motor control device |
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| CN114248836A (en) | 2022-03-29 |
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